共查询到19条相似文献,搜索用时 125 毫秒
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提出一种新型经元网络结构及其学习算法。这种改进型神经网络由两个子神经网络综合构成;线性神经网络和递归神经网络,该MNN网络能用于在线学习对象的动态特性,从而提供一种能提高整个控制系统性能的自适应控制实现策略。仿真结果表明所提出的新型神经元网络是有效的。 相似文献
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基于进化策略的动态递归神经网络建模与辨识 总被引:4,自引:1,他引:3
提出一种采用进化策略实现动态递归神经网络结构、权重和自反馈增益同时进化的学习算法,以及自适应进化机制,与改进BP6算法相结合,各取所长,形成集成化动态递归神经网络建模辨识算法,实际应用结果表明,所提出算法不仅明显提高了动态递是 网络模型辨识自救的收敛速度格精度,而且实现了动态递归网络的全自动优化设计。 相似文献
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针对污水处理过程中具有的非线性、大时变等特征,提出了一种基于自适应递归模糊神经网络(recurrent fuzzy neural network,RFNN)的污水处理控制方法.该方法利用自适应RFNN识别器建立污水处理过程的非线性动态模型,建立的模型可以为RFNN控制器提供污水处理过程中的状态变量信息,保证了控制器根据系统响应调整操作变量的精确性;并且RFNN辨识器及RFNN控制器基于自适应学习率进行学习,确保了递归模糊神经网络的收敛精度和速度,并通过构造李雅普诺夫函数证明了此算法的收敛性;最后,基于基准仿真模型(benchmark simulation model 1,BSM1)平台进行仿真实验.结果表明,与PID、模型预测控制及前馈神经网络相比,该方法对污水处理中溶解氧浓度和硝态氮浓度的跟踪控制精度具有明显的提升. 相似文献
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提出一种改进学习算法的CAMC网络结构,并应用于非线性系统控制。该算法可保证网络的学习率随着系统工作点的变化而自适应变化,加快了网络的收敛速度,提高了系统的自适应能力。文中分析了CAMC网络用于自适应逆控制过程中,网络学习率对网络收敛特性的影响,论证了自适应学习率在网络学习中的作用,并给出了学习率自适应学习的具体训练方法。最终将该方法应用于三阶机械手模型的逆运动控制,给出了基于普通CMAC的逆运动控制的控制曲线和基于改进学习算法后的CMAC的逆运动控制的控制曲线,并给出了分析和对比,论证了改进的学习算法的优越性。 相似文献
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基于回归神经网络自适应快速BP算法 总被引:3,自引:0,他引:3
动态递归网络Elman网络结构简单,运算量少,适合于实时系统辨识。以Elman网络结构推导了在线学习算法。针对于传统BP算法会产生局部收敛和收敛速度慢等缺点,提出了一种改进的自适应BP算法,运用到回归神经网络,提高了在线学习的速度与收敛速度,仿真实验表明了此算法的有效性和快速性。 相似文献
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针对目前非线性动态偏最小二乘(PLS)建模方法在拟合较强非线性化工过程时存在的问题, 提出一种基于稳定学习的递归神经网络动态PLS建模方法. 该算法将递归神经网络与Hammerstein模型相结合, 对外部PLS提取的特征向量进行内部建模, 具有逼近较强非线性化工过程的能力, 改善了模型的适用范围. 此外, 采用带有稳定学习的参数更新算法对模型参数进行在线修正, 改善了模型的预测精度和自适应能力. 将此方法应用于氧化铝生产过程铝酸钠溶液组分浓度建模实验, 仿真结果表明, 本方法是可行有效的. 相似文献
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本文基于提出的递归多层神经网络结构,进行了非线性系统的模型参考自适应控制研究,并为其提供了全解耦的推广Kalman滤波器学习算法,通过SISO非线性动力学系统的控制仿真,表明本文的控制方法对于阶未知的非线性对象或具有未知延迟的系统控制是可行的。 相似文献
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提出一种基于动态递归神经网络的自适应PID控制方案,该控制系统由神经网络辨识器和神经网络控制器组成。辨识器采用单隐层的动态递归神经网络,网络结构为2-4-1;辨识算法为动态BP算法;控制器采用两层线性结构的神经网络,输入为系统偏差及其一阶、二阶微分,因此具有增量型PID控制结构。应用该控制系统对一非线性时变系统进行仿真研究,仿真结果表明该控制方案不仅具有良好的跟踪特性,而且对系统参数变化具有较强的鲁棒性。 相似文献
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针对共振破碎机频率控制系统的不确定性问题,提出基于动态递归模糊神经网络的自适应反推控制策略。建立了破碎机频率控制系统的数学模型,在忽略不确定性项的前提下,设计了基于自适应Back-stepping方法控制律。其次将电液系统中影响频率控制性能的不确定性因素定义为待估计项,采用动态递归模糊神经网络对其进行实时估计,给出了基于动态递归模糊神经网络的参数自适应律,并通过了Lyapunov的稳定性分析。仿真实验和车载测试结果表明,对于系统参数的不确定性,该方法具有较好地频率控制性能。 相似文献
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基于强化学习算法的网络拥塞控制 总被引:1,自引:0,他引:1
论文将强化学习算法应用于网络的拥塞控制中,该网络拥塞控制器可以调节源端发送数据的速率,使网络中可能发生拥塞的节点的缓冲区队列长度逼近给定值,从而避免了拥塞的发生,保证了网络的稳定运行。仿真实验验证了算法的有效性。 相似文献
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非线性系统的神经网络学习控制 总被引:2,自引:0,他引:2
主要控制了一类非线性系统的神经网络学习控制问题。讨论了以迭代学习方式训练的神经网络学习控制器,在满足一定条件,可以实现一定时间内的系统输出跟踪。 相似文献
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Hybrid Dynamic Control Algorithm for Humanoid Robots Based on Reinforcement Learning 总被引:1,自引:0,他引:1
Duśko M. Katić Aleksandar D. Rodić Miomir K. Vukobratović 《Journal of Intelligent and Robotic Systems》2008,51(1):3-30
In this paper, hybrid integrated dynamic control algorithm for humanoid locomotion mechanism is presented. The proposed structure
of controller involves two feedback loops: model-based dynamic controller including impart-force controller and reinforcement
learning feedback controller around zero-moment point. The proposed new reinforcement learning algorithm is based on modified
version of actor-critic architecture for dynamic reactive compensation. Simulation experiments were carried out in order to
validate the proposed control approach.The obtained simulation results served as the basis for a critical evaluation of the
controller performance. 相似文献
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This paper addresses a new method for combination of supervised learning and reinforcement learning (RL). Applying supervised learning in robot navigation encounters serious challenges such as inconsistent and noisy data, difficulty for gathering training data, and high error in training data. RL capabilities such as training only by one evaluation scalar signal, and high degree of exploration have encouraged researchers to use RL in robot navigation problem. However, RL algorithms are time consuming as well as suffer from high failure rate in the training phase. Here, we propose Supervised Fuzzy Sarsa Learning (SFSL) as a novel idea for utilizing advantages of both supervised and reinforcement learning algorithms. A zero order Takagi–Sugeno fuzzy controller with some candidate actions for each rule is considered as the main module of robot's controller. The aim of training is to find the best action for each fuzzy rule. In the first step, a human supervisor drives an E-puck robot within the environment and the training data are gathered. In the second step as a hard tuning, the training data are used for initializing the value (worth) of each candidate action in the fuzzy rules. Afterwards, the fuzzy Sarsa learning module, as a critic-only based fuzzy reinforcement learner, fine tunes the parameters of conclusion parts of the fuzzy controller online. The proposed algorithm is used for driving E-puck robot in the environment with obstacles. The experiment results show that the proposed approach decreases the learning time and the number of failures; also it improves the quality of the robot's motion in the testing environments. 相似文献
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Andon V. TopalovAuthor VitaeYesim OnizAuthor Vitae Erdal KayacanAuthor VitaeOkyay KaynakAuthor Vitae 《Neurocomputing》2011,74(11):1883-1893
A neuro-fuzzy adaptive control approach for nonlinear dynamical systems, coupled with unknown dynamics, modeling errors, and various sorts of disturbances, is proposed and used to design a wheel slip regulating controller. The implemented control structure consists of a conventional controller and a neuro-fuzzy network-based feedback controller. The former is provided both to guarantee global asymptotic stability in compact space and as an inverse reference model of the response of the controlled system. Its output is used as an error signal by an incremental learning algorithm to update the parameters of the neuro-fuzzy controller. In this way the latter is able to gradually replace the conventional controller from the control of the system. The proposed new learning algorithm makes direct use of the variable structure systems theory and establishes a sliding motion in terms of the neuro-fuzzy controller parameters, leading the learning error toward zero. In the simulations and in the experimental studies, it has been tested on the control of antilock breaking system model and the analytical claims have been justified under the existence of uncertainty and large nonzero initial errors. 相似文献